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This allows user to set the surface positions for the aeroterminate #15458

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This allows user to set the surface positions for the aeroterminate #15458

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dc1e8c1
This allows user to set the surface positions for the aeroterminate
Sep 23, 2020
32bac74
Changed 100 to 100.0 to avoid truncation when value is less than 1.
Oct 2, 2020
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6 changes: 3 additions & 3 deletions ArduPlane/afs_plane.cpp
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Expand Up @@ -30,9 +30,9 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
// aerodynamic termination is the default approach to termination
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX * _terminate_pos_ail/100.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX * _terminate_pos_rud/100.0);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX * _terminate_pos_ele/100.0);
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
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24 changes: 24 additions & 0 deletions libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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Expand Up @@ -158,6 +158,30 @@ const AP_Param::GroupInfo AP_AdvancedFailsafe::var_info[] = {
// @Units: km
AP_GROUPINFO("MAX_RANGE", 20, AP_AdvancedFailsafe, _max_range_km, 0),

// @Param: TERM_POS_AIL
// @DisplayName: Terminate Aileron Position
// @Description: This is the position the aileron will go to during an aerotermination. 0 means neutral deflection, default is 100.
// @User: Advanced
// @Units: %
// @Range: -100 100
AP_GROUPINFO("TERM_POS_AIL", 21, AP_AdvancedFailsafe, _terminate_pos_ail, 100),

// @Param: TERM_POS_RUD
// @DisplayName: Terminate Rudder Position
// @Description: This is the position the rudder will go to during an aerotermination. 0 means neutral deflection, default is 100.
// @User: Advanced
// @Units: %
// @Range: -100 100
AP_GROUPINFO("TERM_POS_RUD", 22, AP_AdvancedFailsafe, _terminate_pos_rud, 100),

// @Param: TERM_POS_ELE
// @DisplayName: Terminate Elevator Position
// @Description: This is the position the elevator will go to during an aerotermination. 0 means neutral deflection, default is 100.
// @User: Advanced
// @Units: %
// @Range: -100 100
AP_GROUPINFO("TERM_POS_ELE", 23, AP_AdvancedFailsafe, _terminate_pos_ele, 100),

AP_GROUPEND
};

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3 changes: 3 additions & 0 deletions libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
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Expand Up @@ -131,6 +131,9 @@ class AP_AdvancedFailsafe
AP_Int8 _rc_term_manual_only;
AP_Int8 _enable_dual_loss;
AP_Int16 _max_range_km;
AP_Int8 _terminate_pos_ail;
AP_Int8 _terminate_pos_rud;
AP_Int8 _terminate_pos_ele;

bool _heartbeat_pin_value;

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